16,589 research outputs found

    Towards Autonomous Selective Harvesting: A Review of Robot Perception, Robot Design, Motion Planning and Control

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    This paper provides an overview of the current state-of-the-art in selective harvesting robots (SHRs) and their potential for addressing the challenges of global food production. SHRs have the potential to increase productivity, reduce labour costs, and minimise food waste by selectively harvesting only ripe fruits and vegetables. The paper discusses the main components of SHRs, including perception, grasping, cutting, motion planning, and control. It also highlights the challenges in developing SHR technologies, particularly in the areas of robot design, motion planning and control. The paper also discusses the potential benefits of integrating AI and soft robots and data-driven methods to enhance the performance and robustness of SHR systems. Finally, the paper identifies several open research questions in the field and highlights the need for further research and development efforts to advance SHR technologies to meet the challenges of global food production. Overall, this paper provides a starting point for researchers and practitioners interested in developing SHRs and highlights the need for more research in this field.Comment: Preprint: to be appeared in Journal of Field Robotic

    One Small Step for Generative AI, One Giant Leap for AGI: A Complete Survey on ChatGPT in AIGC Era

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    OpenAI has recently released GPT-4 (a.k.a. ChatGPT plus), which is demonstrated to be one small step for generative AI (GAI), but one giant leap for artificial general intelligence (AGI). Since its official release in November 2022, ChatGPT has quickly attracted numerous users with extensive media coverage. Such unprecedented attention has also motivated numerous researchers to investigate ChatGPT from various aspects. According to Google scholar, there are more than 500 articles with ChatGPT in their titles or mentioning it in their abstracts. Considering this, a review is urgently needed, and our work fills this gap. Overall, this work is the first to survey ChatGPT with a comprehensive review of its underlying technology, applications, and challenges. Moreover, we present an outlook on how ChatGPT might evolve to realize general-purpose AIGC (a.k.a. AI-generated content), which will be a significant milestone for the development of AGI.Comment: A Survey on ChatGPT and GPT-4, 29 pages. Feedback is appreciated ([email protected]

    Heterogeneity in mode choice behavior: A spatial latent class approach based on accessibility measures

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    We propose a method to estimate mode choice models, where preference parameters are sensitive to the spatial context of the trip origin, challenging traditional assumptions of spatial homogeneity in the relationship between travel modes and the built environment. The framework, called Spatial Latent Classes (SLC), is based on the integrated choice and latent class approach, although instead of defining classes for the decision maker, it estimates the probability of a location belonging to a class, as a function of spatial attributes. For each Spatial Latent Class, a different mode choice model is specified, and the resulting behavioral model for each location is a weighted average of all class-specific models, which is estimated to maximize the likelihood of reproducing observed travel behavior. We test our models with data from Portland, Oregon, specifying spatial class membership models as a function of local and regional accessibility measures. Results show the SLC increases model fit when compared with traditional methods and, more importantly, allows segmenting urban space into meaningful zones, where predominant travel behavior patterns can be easily identified. We believe this is a very intuitive way to spatially analyze travel behavior trends, allowing policymakers to identify target areas of the city and the accessibility levels required to attain desired modal splits

    Unpredictable Needs are Associated with Lower Expectations of Repayment

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    Sometimes people help one another expecting to be repaid, while at other times people help without an expectation of repayment. What might underlie this difference in expectations of repayment? We investigate this question in a nationally representative sample of US adults (N = 915), and find that people are more likely to expect repayment when needs are perceived to be more predictable. We then replicate these findings in a new sample of US adults (N = 417), and show that people have higher expectations of repayment when needs are perceived to be more predictable because people assign greater responsibility to others for experiencing such predictable needs (e.g., needing money for utilities). This is consistent with previous work based on smaller-scale societies, which shows that the predictability of needs influences expectations of repayment. Our results also add to this previous work by (1) showing that the positive relationship between predictability of needs and expectations of repayment previously found in smaller-scale communities is generalizable to the US population, and (2) showing that attributions of responsibility partially mediate this relationship. This work shows that the predictability of needs and attributions of responsibility for that need are important factors underlying the psychology of helping in times of need

    Ausubel's meaningful learning re-visited

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    This review provides a critique of David Ausubel’s theory of meaningful learning and the use of advance organizers in teaching. It takes into account the developments in cognition and neuroscience which have taken place in the 50 or so years since he advanced his ideas, developments which challenge our understanding of cognitive structure and the recall of prior learning. These include (i) how effective questioning to ascertain previous knowledge necessitates in-depth Socratic dialogue; (ii) how many findings in cognition and neuroscience indicate that memory may be non-representational, thereby affecting our interpretation of student recollections; (iii) the now recognised dynamism of memory; (iv) usefully regarding concepts as abilities or simulators and skills; (v) acknowledging conscious and unconscious memory and imagery; (vi) how conceptual change involves conceptual coexistence and revision; (vii) noting linguistic and neural pathways as a result of experience and neural selection; and (viii) recommending that wider concepts of scaffolding should be adopted, particularly given the increasing focus on collaborative learning in a technological world

    The impact of innovative technologies in construction activities on concrete debris recycling in China : a system dynamics-based analysis

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    As construction activities become more intensive in developing countries, increasing improperly managed construction and demolition waste (CDW) brings serious environmental impacts. Recycling is a beneficial way to dispose of CDW that reduces environmental impact and brings economic benefits, especially for concrete. China is the country that generates the most CDW in the world, but its domestic recycling rate is much lower than that of developed countries. While the efficient technologies in developed regions have helped them to achieve a well-established recycling industry, whether these innovative technologies can be used to improve the concrete debris recycling targets in developing regions is unclear. This study examines whether innovations currently widely used in construction activities and materials can have a positive effect on the recycling of End-of-Life concrete materials in China. Results from modeling system dynamics imply that the introduction of innovative technologies in the recycling system of concrete debris can probably contribute to CO2 reduction (3.6% reduction) and economic benefits (2.6 times increase, but mainly from landfill charges and fines) from 2022 to 2030. Prefabrication and 3D printing significantly impact recycled concrete production and CDW recycling, and they are recommended as a priority for promotion. In contrast, carbonation is not suggested for application due to its minor role. Nevertheless, since the market share of innovative technologies and the basic CDW recycling rates are currently low in China, fluctuations in their usage are hardly to have a substantial positive impact. We suggest that financial support from the government is needed for upcycling by recyclers and technology providers to improve the base recycling rate in order for innovative technologies to make an effective contribution to the sustainable construction industry, creating a win–win situation for both the economy and the environment of the recycling system

    A spatio-temporal framework for modelling wastewater concentration during the COVID-19 pandemic

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    The potential utility of wastewater-based epidemiology as an early warning tool has been explored widely across the globe during the current COVID-19 pandemic. Methods to detect the presence of SARS-CoV-2 RNA in wastewater were developed early in the pandemic, and extensive work has been conducted to evaluate the relationship between viral concentration and COVID-19 case numbers at the catchment areas of sewage treatment works (STWs) over time. However, no attempt has been made to develop a model that predicts wastewater concentration at fine spatio-temporal resolutions covering an entire country, a necessary step towards using wastewater monitoring for the early detection of local outbreaks. We consider weekly averages of flow-normalised viral concentration, reported as the number of SARS-CoV-2N1 gene copies per litre (gc/L) of wastewater available at 303 STWs over the period between 1 June 2021 and 30 March 2022. We specify a spatially continuous statistical model that quantifies the relationship between weekly viral concentration and a collection of covariates covering socio-demographics, land cover and virus associated genomic characteristics at STW catchment areas while accounting for spatial and temporal correlation. We evaluate the model’s predictive performance at the catchment level through 10-fold cross-validation. We predict the weekly viral concentration at the population-weighted centroid of the 32,844 lower super output areas (LSOAs) in England, then aggregate these LSOA predictions to the Lower Tier Local Authority level (LTLA), a geography that is more relevant to public health policy-making. We also use the model outputs to quantify the probability of local changes of direction (increases or decreases) in viral concentration over short periods (e.g. two consecutive weeks). The proposed statistical framework can predict SARS-CoV-2 viral concentration in wastewater at high spatio-temporal resolution across England. Additionally, the probabilistic quantification of local changes can be used as an early warning tool for public health surveillance

    Countermeasures for the majority attack in blockchain distributed systems

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    La tecnología Blockchain es considerada como uno de los paradigmas informáticos más importantes posterior al Internet; en función a sus características únicas que la hacen ideal para registrar, verificar y administrar información de diferentes transacciones. A pesar de esto, Blockchain se enfrenta a diferentes problemas de seguridad, siendo el ataque del 51% o ataque mayoritario uno de los más importantes. Este consiste en que uno o más mineros tomen el control de al menos el 51% del Hash extraído o del cómputo en una red; de modo que un minero puede manipular y modificar arbitrariamente la información registrada en esta tecnología. Este trabajo se enfocó en diseñar e implementar estrategias de detección y mitigación de ataques mayoritarios (51% de ataque) en un sistema distribuido Blockchain, a partir de la caracterización del comportamiento de los mineros. Para lograr esto, se analizó y evaluó el Hash Rate / Share de los mineros de Bitcoin y Crypto Ethereum, seguido del diseño e implementación de un protocolo de consenso para controlar el poder de cómputo de los mineros. Posteriormente, se realizó la exploración y evaluación de modelos de Machine Learning para detectar software malicioso de tipo Cryptojacking.DoctoradoDoctor en Ingeniería de Sistemas y Computació

    Neuroanatomical and gene expression features of the rabbit accessory olfactory system. Implications of pheromone communication in reproductive behaviour and animal physiology

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    Mainly driven by the vomeronasal system (VNS), pheromone communication is involved in many species-specific fundamental innate socio-sexual behaviors such as mating and fighting, which are essential for animal reproduction and survival. Rabbits are a unique model for studying chemocommunication due to the discovery of the rabbit mammary pheromone, but paradoxically there has been a lack of knowledge regarding its VNS pathway. In this work, we aim at filling this gap by approaching the system from an integrative point of view, providing extensive anatomical and genomic data of the rabbit VNS, as well as pheromone-mediated reproductive and behavioural studies. Our results build strong foundation for further translational studies which aim at implementing the use of pheromones to improve animal production and welfare
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